CN117119325A - Area array sensor camera and mounting position adjusting method thereof - Google Patents
Area array sensor camera and mounting position adjusting method thereof Download PDFInfo
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- H—ELECTRICITY
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- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention discloses an area array sensor camera and an installation position adjusting method thereof. Belongs to the technical field of area array sensor cameras. Comprising the following steps: measuring the space position coordinates of at least three points on the area array sensor to obtain a coordinate position set S1; measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S; fitting S 1 Or equation of the plane of any set in S, calculating the coordinates of each position in the other set, and obtaining a distance set D by fitting the distance to the equation of the plane 1 The method comprises the steps of carrying out a first treatment on the surface of the Calculate distance set D 1 If the difference is larger than the parallelism threshold, adjusting the installation of the area array sensor according to the differencePosition. According to the invention, the parallelism between the area array sensor and the front cover of the camera and the azimuth deviation between the photosensitive surface of the area array sensor and the front cover are adjusted, so that the mounting position of the sensor is finally ensured to meet the requirement, the rectangular center is consistent, and the imaging blurring of the camera is further avoided.
Description
Technical Field
The invention relates to the technical field of area array sensor cameras, in particular to an area array sensor camera and an installation position adjusting method thereof.
Background
In the industrial camera adjustment process, the plane of the sensor and the front cover surface of the camera are required to be ensured to be parallel as much as possible, and meanwhile, the rectangular opening on the front cover of the camera is required to be ensured to be close to the center of the rectangle where the sensor is located as much as possible, so that the imaging blurring of the camera is avoided, and the analysis of an imaging target is influenced. The above problems can be divided into two parts: 1. the parallelism between the plane of the sensor and the front cover surface of the camera is regulated, and when the parallelism between the plane of the sensor and the front cover surface of the camera meets the requirement, imaging of the camera is not blurred; 2. the orientation of the sensor is adjusted, and the sensor comprises an upper part, a lower part, a left part and a right part, so that the center of a rectangle where the sensor is positioned is as close as possible to the center of a rectangular opening on the front cover of the camera. In order to solve the problems, the invention provides an area array sensor camera and a mounting position adjusting method thereof, and the method provided by the invention is used for calculating the adjusting quantity and adjusting according to the adjusting quantity, so that the mounting position of the sensor can meet the requirement, the rectangular center is consistent, and the imaging ambiguity of the camera is avoided.
The increasing detection efficiency and accuracy in the machine vision field requires increasing the resolution of front-end image sensors. To achieve higher resolution, on the one hand, image sensors with higher resolution can be directly used, but the method is limited to technology, technology update and other competing limitations, and the large-resolution image sensor has small optional space and is particularly expensive; on the other hand, lower resolution image sensors can be used for stitching to achieve greater lateral resolution under cost and technical competition constraints. For example, the two sensors are overlapped in the transverse direction to complete the full coverage of the detection area, and simultaneously, the two sensors are kept parallel as far as possible in the transverse direction to ensure the consistency of imaging.
The existing adjusting method for the parallelism of the image sensor is less, the parallelism of the light sensitive surface and the interface is detected in real time through a camera and then is adjusted in place through a mechanical arm, the parallelism among a plurality of sensors and the parallelism of the whole and the interface are corrected based on deviation in algorithm, in the prior art, for example, in patent CN116156342A and US20170085746A1, the image is corrected for the fixed multi-sensor camera, and finally, the complete image spliced by a plurality of sensors is obtained. However, in the above-mentioned algorithm angle-based stitching schemes, the deviation angle between the plurality of sensors is required to be within a certain range, and if the deviation between the plurality of sensors is too large during installation, it is difficult to stitch the images from the algorithm angle.
Disclosure of Invention
The invention provides an area array sensor camera and an installation position adjusting method thereof, which can at least solve one of the technical problems.
In order to achieve the above purpose, the present invention proposes the following technical solutions:
an area array sensor camera mounting position adjustment method, comprising:
measuring the space position coordinates of at least three points on the area array sensor to obtain a coordinate position set S 1 The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting S 1 Or equation of the plane of any set in S, calculating the coordinates of each position in the other set, and obtaining a distance set D by fitting the distance to the equation of the plane 1 The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 And if the difference value is larger than the parallelism threshold value, adjusting the installation position of the area array sensor according to the difference value.
Further, the adjusting the installation position of the area array sensor according to the difference value includes:
according to the difference, the position of the minimum value of the front cover of the camera is raised, or
And according to the difference value, reducing the position of the maximum value of the front cover of the camera.
Further, a measurement auxiliary piece is arranged on the front cover of the camera, and the measurement auxiliary piece is transparent and has a smooth surface; the auxiliary measuring piece is matched with the front cover of the camera, and one surface, which is contacted with the front cover of the camera, of the auxiliary measuring piece is used for replacing the front cover of the camera;
the method comprises the steps of measuring the space position coordinates of at least three points on a front cover of a camera to obtain a coordinate position set S, wherein the coordinate position set S is as follows: and measuring the space position coordinates of at least three points on the surface of the auxiliary measuring piece, which is contacted with the front cover of the camera, so as to obtain a coordinate position set S.
Further, the measuring the spatial position coordinates of at least three points on the area array sensor and the measuring the spatial position coordinates of at least three points on the front cover of the camera includes:
measuring the spatial position by using a spectrum confocal device, wherein the spatial position of a measurement origin of the spectrum confocal device is known; and moving the measurement origin of the spectrum confocal equipment for a plurality of times, measuring the distance between the points on the area array sensor and the front cover of the camera and the measurement origin, and acquiring the space position coordinates of at least three points on the area array sensor and the space position coordinates of at least three points on the front cover of the measurement camera.
Further, the front cover of the camera is provided with a rectangular opening, the area array sensor is positioned in the rectangular opening, and the method further comprises:
acquiring an image of the area array sensor in the rectangular opening, extracting pixel position coordinates on four edges of the area array sensor, and fitting a linear equation of the four edges according to the position coordinates;
for any edge on the area array sensor, selecting a plurality of points on one edge of a rectangular opening corresponding to the edge, calculating the distance between all the points and any edge, and obtaining a distance set D 2 Calculating the distance set D 2 If the difference value is larger than the azimuth threshold value, according to the distance set D 2 The position of the middle maximum value is adjusted to the area array sensorThe mounting position of the device;
and the four edges are all subjected to installation position adjustment according to the steps.
Further, the method further comprises the following steps:
selecting a plurality of points on the upper and lower edges of the rectangular opening, respectively calculating the average value of the distances between the points and the straight line where the upper and lower edges of the area array sensor are located, wherein the average value is d u And d d ；
According to d u And d d The difference value is used for adjusting the azimuth deviation of the area array sensor in the up-down direction;
selecting a plurality of points on the left and right sides of the rectangular opening, and respectively calculating the average value of the distances between the points and the straight line where the left and right edges of the area array sensor are located, wherein the average value is d l And d r ；
According to d l And d r And adjusting the azimuth deviation of the area array sensor in the left-right direction by the difference value.
Further, the azimuth deviation Deltad of the area array sensor in the up-down direction y The method comprises the following steps:
azimuth deviation delta d of the area array sensor in the left-right direction x The method comprises the following steps:
further, the method further comprises the following steps:
when the front image of the area array sensor in the rectangular opening is acquired, a standard gauge block with known length is placed in an image range, and the corresponding relation between the pixel distance and the actual length distance in the image is acquired according to the image of the standard gauge block;
acquiring the d according to the corresponding relation between the pixel distance and the actual length distance u 、d d 、d l And d r Is a value of (2).
On the other hand, also propose an area array sensor camera:
the area array sensor camera includes when the installation:
measuring the space position coordinates of at least three points on the area array sensor to obtain a coordinate position set S 1 The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting S 1 Or equation of the plane of any set in S, calculating the coordinates of each position in the other set, and obtaining a distance set D by fitting the distance to the equation of the plane 1 The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 And if the difference value is larger than the parallelism threshold value, adjusting the installation position of the area array sensor according to the difference value.
Further, adjusting the mounting position of the area array sensor by using a mounting structural member, wherein the mounting structural member comprises a reference surface parallel to the front cover of the camera and a rectangular reference edge for limiting the arrangement position of the area array sensor;
using the reference surface to replace the camera front cover, wherein the coordinate position set S is obtained by measuring the space position coordinates of at least three points on the reference surface;
acquiring images of the area array sensor and the rectangular reference edges, extracting four edges of the area array sensor and the four reference edges, and judging whether the relation between the positions of the four edges of the area array sensor and the positions of the four reference edges meets the set installation position of the area array sensor; and if the four edges of the area array sensor are not satisfied, adjusting the installation position of the area array sensor according to the relation between the positions of the four edges of the area array sensor and the positions of the four reference edges.
In order to ensure the definition of imaging, the parallelism between the area array sensor and the front cover of the camera needs to be adjusted. And measuring the height difference between the area array sensor and the front cover, and calculating the parallelism of the area array sensor and the front cover. And adjusting the parallelism of the sensor and the front cover according to the calculation result. In order to ensure the definition of imaging, it is necessary to adjust the amount of positional deviation between the photosensitive surface of the area array sensor and the front cover. And acquiring images of the photosensitive edges of the area array sensor and the front cover edge, extracting straight lines of the photosensitive edges of the area array sensor and the front cover edge, and calculating the deviation amounts of the photosensitive edges of the area array sensor and the front cover edge in the up-down direction and the left-right direction. And adjusting the azimuth deviation amount between the area array sensor and the front cover according to the calculation result. Finally, the mounting position of the sensor is ensured to meet the requirement, the rectangular centers are consistent, and further the imaging blurring of the camera is avoided.
Drawings
FIG. 1 is a schematic view of an area array sensor camera of the present invention;
fig. 2 is a schematic diagram of the azimuth deviation calculation in the embodiment of the present invention.
In the figure: 1-area array sensor; 2-camera front cover.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
The embodiment provides a method for adjusting the mounting position of a camera of an area array sensor 1, which is characterized in that the parallelism of the area array sensor 1 and the camera front cover 2 is calculated by measuring the distance between the photosensitive area of the area array sensor 1 and the camera front cover 2, and the parallelism can be adjusted by adding a gasket with proper thickness into the camera; the azimuth deviation amount of the photosensitive area edge of the area sensor 1 and the camera front cover 2 is calculated by measuring the distance between the photosensitive area edge of the area sensor 1 and the edge of the camera front cover 2, and is adjusted through a fixture. The method comprises the following steps:
the camera is fixed on the detection platform: the camera is fixed on the detection platform by means of a tool, dispensing and the like, so that the camera is fixed in the moving process of the detection platform;
detecting platform movement, and taking N on an area array sensor 1 of an area array camera 1 Taking N from the end face of the front cover of the camera 2 And calculating the parallelism deviation amount between the two points: n is taken in the photosensitive area of the area array sensor 1 by utilizing a spectral confocal device 1 Taking N from the front cover surface of the camera 2 Multiple points, using photosensitive regionsN of domains 1 Fitting plane P by individual points 1 N on the front cover of camera 2 From point to plane P 1 And obtaining a value of parallelism;
adjusting the area sensor 1 according to the calculated parallelism deviation amount: adding a gasket with proper thickness at a corresponding position through the calculated deviation, and adjusting parallelism;
and detecting platform movement, acquiring images of the area array sensor 1 and the camera front cover 2 by using a camera, respectively extracting straight lines of edges of the area array sensor 1 and the camera front cover, and calculating azimuth deviation. Acquiring images of the area array sensor 1 and the front cover surface of the camera by using an area array camera, extracting the edge of the area array sensor 1 and the edge of the front cover of the camera, and calculating the deviation amounts of the upper part, the lower part, the left part and the right part; adjusting the azimuth offset of the area array sensor 1 according to the calculated azimuth offset amount: and adjusting the azimuth deviation by using the tool through the calculated azimuth deviation.
The area array sensor 1 is rectangular, and the detection platform of the embodiment uses spectrum confocal equipment. The spectral confocal equipment is used for measuring different positions on the area array sensor 1, corresponding measurement results are recorded, and the spectral confocal equipment can be used for verifying whether the installation of the area array sensor 1 is horizontal or not. However, the reference zero point of the spectrum confocal device is fixed, if the area array sensor 1 is obliquely placed, the result of the measurement of the area array sensor 1 of the spectrum confocal device will include two parts of the measured value of the area array sensor 1 and the placed oblique amount, so that the measured parallelism will have obvious errors by directly using the measured result of the spectrum confocal device.
To solve the above problem, a transparent, smooth-surfaced measurement aid can be placed over the bezel collar. In order to make the parallelism measurement between the spectral confocal sensor measuring area array sensor 1 and the front cover joint ring more accurate, the following requirements are imposed on the measurement auxiliary member: the spectral confocal apparatus measures the upper and lower surfaces of the measurement aid (because the measurement aid has a certain thickness), calculates the difference between the measurement results of the upper and lower surfaces of the measurement aid, measures a plurality of positions, and the maximum difference and the minimum difference are smaller than an expected threshold, which is preferably 5 microns. The auxiliary measuring piece is placed on the front cover joint ring, and has the following advantages: 1. the lower surface of the measurement auxiliary piece can be approximately used for replacing the front cover joint ring surface, and the spectrum confocal equipment can be used for measuring the lower surface of the measurement auxiliary piece with higher precision; 2. if the area sensor 1 is placed inclined, the measurement aid will assume a consistent inclination with the area sensor 1. The spectral confocal equipment measures the area array sensor 1 and the measurement auxiliary, calculates the distance from the measurement result of the area array sensor 1 to the measurement result of the measurement auxiliary, and can eliminate errors caused by the inclination of the placement of the area array sensor 1 to a certain extent.
The specific measurement steps are as follows:
measuring the photosensitive area of the area array sensor 1: the detection position of the spectrum confocal device is adjusted to enable the spectrum confocal device to form a small circular spot on the area array sensor 1, a corresponding peak is obtained, the position of the peak corresponds to the measured distance of the area array sensor 1, and the position P of the spectrum confocal sensor at the moment is recorded 1 (x 1 ,y 1 ,z 1 ) And the distance d measured by the spectral confocal apparatus. Measurement of N 1 A plurality of points, a set S of the corresponding positions and the measuring results of the area array sensor 1 is obtained 1 The method is characterized by comprising the following steps:
the upper right corner of the formula of this embodiment is for labeling purposes only and is not an exponent.
Measuring the lower surface of the measurement aid: the position of the spectral confocal sensor is adjusted so that the spectral confocal device is focused on the lower surface of the measurement aid (as previously described, the lower surface of the measurement aid may be approximated by a bezel interface), wherein the coordinates (x, y) of the spectral confocal sensor may be identical to the area array sensor 1. And selecting a peak corresponding to the lower surface of the auxiliary measuring piece, and recording the distance d measured by the spectrum confocal equipment. Measurement of N 2 A plurality of points, a set S of the corresponding positions and the measuring results of the area array sensor 1 is obtained 2 The method is characterized by comprising the following steps:
calculating the distance between the measurement result of the area array sensor 1 and the measurement result of the measurement auxiliary part:
in order to measure the distance between the measurement result of the area sensor 1 and the measurement result of the measurement aid,
1. will be set S 1 、S 2 And (3) adjusting to obtain:
the x, y, Z, d units in the above set have been unified, and Z and d are both distances in the Z direction, and thus can be added. At the same time S 1 Is not collinear.
2. Fitting set S' 1 An equation for the plane. S'. 1 Is the set obtained by the measuring area array sensor 1, set S' 1 Approximately in one plane, therefore, S 'can be utilized' 1 The plane equation can be expressed as: ax+by+cz+d=0; calculate set S' 2 Is to the plane ax+by+cz+d=0. Set S' 2 Is D from the point of (2) to the plane ax+by+cz+d=0 2 ＝{d i |i＝1，2，…，N 2 }。
And calculating the parallelism. Selecting a set of calculated distances D 2 Difference d of maximum values max ，d max ＝max D 2 Due to distance set D 2 Representation set S' 2 The set S 'then follows the distance of the point of (a) to the plane ax+by+cz+d=0' 2 Difference d of maximum values max Is the furthest position from the plane. The adjustment of the parallelism can be achieved by adding suitable shims, so that the deviation of the parallelism to be adjusted is D a ＝d max -D 2 。
Then, the camera is used for collecting images of the area array sensor 1 and the camera front cover 2, straight lines where the edges of the area array sensor 1 and the camera front cover are located are respectively extracted, and the azimuth deviation amount is calculated:
in the invention, because the imaging area of the area array camera is smaller, the complete images of the area array sensor 1 and the front cover of the area array camera cannot be acquired, so the invention utilizes the area array camera to acquire the images of the photosensitive area edge of the area array sensor 1 and the front cover edge of the area array camera, and calculates the offset of the azimuth direction.
And acquiring images of four directions of the edge of the area array sensor 1, namely, up, down, left and right, and acquiring images of four directions of the edge of the front cover of the camera.
For the image of the edge of the area sensor 1, the area where the edge of the area sensor 1 is located is cut. And extracting the straight line where the edge of the area sensor 1 is positioned by using an edge extraction algorithm. And extracting coordinate values of the edge of the area array sensor 1, and performing linear fitting according to the coordinate values, wherein the fitted linear equation is as y=kx+b. And fitting straight lines of the edge of the area array sensor 1 and the edge of the front cover of the camera in four directions up, down, left and right in sequence according to the method. In order to calculate the amount of azimuth deviation between the area sensor 1 and the camera front cover 2, it is necessary to calculate distances from the edge of the area sensor 1 to the upper, lower, left, and right sides of the edge of the camera front cover, respectively. Taking the distance from the edge of the area array sensor 1 to the upper part of the edge of the front cover of the camera as an example, randomly selecting M points on the straight line where the edge of the front cover of the camera is positioned, and calculating the average value of the straight line distance from the M points to the edge of the area array sensor 1. Note that the unit of distance calculated here is a pixel, which is required to be converted into micrometers. If the pixel size of the area array camera for collecting the image is s, the standard block with the length of l and the total image contains p pixels, the area array camera for collecting the image can be calculated to represent s multiplied by p/l micrometers or l/s multiplied by p micrometers represents one pixel, and the distance from the edge of the area array sensor 1 to the upper part of the edge of the front cover of the camera can be calculated to be d according to the calculation relation u The distance from the edge of the area array sensor 1 to the lower part, left side and right side of the edge of the front cover of the camera can be calculated as d by the same method d 、d l 、d r Micron. Then, the azimuth deviation between the area array sensor 1 and the camera front cover 2 can be calculated as:
the calculation schematic diagram of the azimuth deviation is shown in fig. 2, wherein the inner rectangle represents the rectangle where the area sensor 1 is located, and the outer rectangle represents the rectangular opening of the front cover of the camera. Wherein d is x Representing the lateral dimension of the area array sensor; d, d y Representing the area sensor longitudinal dimension. The center of the area sensor 1 is positioned horizontally as followsThe center of the front cover of the camera is positioned at +.>Therefore, the deviation amount calculation formula in the horizontal direction is: />Similarly, it is possible to obtain:
and adjusting the azimuth deviation amount according to the calculated azimuth deviation amount. Wherein Δd x A > 0 indicates that the amount of deviation on the left is greater than the amount of deviation on the right, and the area sensor 1 should be adjusted to the left; Δd x < 0 indicates that the amount of deviation on the left side is smaller than that on the right side, the area sensor 1 should be adjusted to the right; Δd y > 0 indicates that the upper deviation amount is larger than the lower deviation amount, the area sensor 1 should be adjusted upward; Δd y < 0 indicates that the upper deviation amount is smaller than the lower deviation amount, the area sensor 1 should be adjusted downward.
The embodiment also provides an area array sensor camera which is installed by using the method. Further, the present embodiment uses a mounting structure for adjustment of the mounting position of the area sensor 1, the mounting structure including a reference surface parallel to the front cover of the camera, and a rectangular reference edge for defining the arrangement position of the area sensor 1. Using a reference surface to replace a front cover of a camera, and obtaining a coordinate position set S by measuring the space position coordinates of at least three points on the reference surface; acquiring images of the area array sensor 1 and rectangular reference edges, extracting four edges of the area array sensor 1 and the four reference edges, and judging whether the relation between the positions of the four edges of the area array sensor 1 and the positions of the four reference edges meets the set installation position of the area array sensor 1; if not, the mounting position of the area sensor 1 is adjusted according to the relationship between the positions of the four edges of the area sensor 1 and the positions of the four reference edges.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An area array sensor camera mounting position adjustment method, characterized by comprising the following steps:
measuring the space position coordinates of at least three points on the area array sensor to obtain a coordinate position set S 1 The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting S 1 Or equation of the plane of any set in S, calculating the coordinates of each position in the other set, and obtaining a distance set D by fitting the distance to the equation of the plane 1 The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 And if the difference value is larger than the parallelism threshold value, adjusting the installation position of the area array sensor according to the difference value.
2. The area sensor mounting position adjustment method according to claim 1, wherein the adjusting the mounting position of the area sensor according to the difference value includes:
according to the difference, the position of the minimum value of the front cover of the camera is raised, or
And according to the difference value, reducing the position of the maximum value of the front cover of the camera.
3. The area array sensor mounting position adjustment method according to claim 1, wherein a measurement auxiliary is provided on the camera front cover, the measurement auxiliary being transparent and smooth in surface; the auxiliary measuring piece is matched with the front cover of the camera, and one surface, which is contacted with the front cover of the camera, of the auxiliary measuring piece is used for replacing the front cover of the camera;
the method comprises the steps of measuring the space position coordinates of at least three points on a front cover of a camera to obtain a coordinate position set S, wherein the coordinate position set S is as follows: and measuring the space position coordinates of at least three points on the surface of the auxiliary measuring piece, which is contacted with the front cover of the camera, so as to obtain a coordinate position set S.
4. The area sensor mounting position adjustment method according to claim 1, wherein measuring spatial position coordinates of at least three points on the area sensor and measuring spatial position coordinates of at least three points on a front cover of the camera includes: measuring the spatial position by using a spectrum confocal device, wherein the spatial position of a measurement origin of the spectrum confocal device is known; and moving the measurement origin of the spectrum confocal equipment for a plurality of times, measuring the distance between the points on the area array sensor and the front cover of the camera and the measurement origin, and acquiring the space position coordinates of at least three points on the area array sensor and the space position coordinates of at least three points on the front cover of the measurement camera.
5. The area sensor mounting position adjustment method according to claim 1, wherein a rectangular opening is provided in the camera front cover, the area sensor being located in the rectangular opening, the method further comprising:
acquiring an image of the area array sensor in the rectangular opening, extracting pixel position coordinates on four edges of the area array sensor, and fitting a linear equation of the four edges according to the position coordinates;
for any edge on the area array sensor, selecting a plurality of points on one edge of a rectangular opening corresponding to the edge, calculating the distance between all the points and any edge, and obtaining a distance set D 2 Calculating the distance set D 2 If the difference value is larger than the azimuth threshold value, according to the distance set D 2 The installation position of the area array sensor is adjusted at the position of the middle maximum value;
and the four edges are all subjected to installation position adjustment according to the steps.
6. The area sensor mounting position adjustment method according to claim 5, further comprising:
selecting a plurality of points on the upper and lower edges of the rectangular opening, respectively calculating the average value of the distances between the points and the straight line where the upper and lower edges of the area array sensor are located, wherein the average value is d u And d d ；
According to d u And d d The difference value is used for adjusting the azimuth deviation of the area array sensor in the up-down direction;
selecting a plurality of points on the left and right sides of the rectangular opening, and respectively calculating the average value of the distances between the points and the straight line where the left and right edges of the area array sensor are located, wherein the average value is d l And d r ；
According to d l And d r And adjusting the azimuth deviation of the area array sensor in the left-right direction by the difference value.
7. The method for adjusting an installation position of an area sensor according to claim 6, wherein the area sensor has an orientation deviation in a vertical directionΔd y The method comprises the following steps:
azimuth deviation delta d of the area array sensor in the left-right direction x The method comprises the following steps:
8. the area sensor mounting position adjustment method according to claim 6, further comprising:
when the front image of the area array sensor in the rectangular opening is acquired, a standard gauge block with known length is placed in an image range, and the corresponding relation between the pixel distance and the actual length distance in the image is acquired according to the image of the standard gauge block; acquiring the d according to the corresponding relation between the pixel distance and the actual length distance u 、d d 、d l And d r Is a value of (2).
9. An area array sensor camera, characterized in that:
the area array sensor camera includes when the installation:
measuring the space position coordinates of at least three points on the area array sensor to obtain a coordinate position set S 1 The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting S 1 Or equation of the plane of any set in S, calculating the coordinates of each position in the other set, and obtaining a distance set D by fitting the distance to the equation of the plane 1 The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 And if the difference value is larger than the parallelism threshold value, adjusting the installation position of the area array sensor according to the difference value.
10. The area sensor camera of claim 9, wherein adjustment of the area sensor mounting position is performed using a mounting structure including a reference plane parallel to the camera front cover and a rectangular reference edge for defining the area sensor arrangement position;
using the reference surface to replace the camera front cover, wherein the coordinate position set S is obtained by measuring the space position coordinates of at least three points on the reference surface;
acquiring images of the area array sensor and the rectangular reference edges, extracting four edges of the area array sensor and the four reference edges, and judging whether the relation between the positions of the four edges of the area array sensor and the positions of the four reference edges meets the set installation position of the area array sensor; and if the four edges of the area array sensor are not satisfied, adjusting the installation position of the area array sensor according to the relation between the positions of the four edges of the area array sensor and the positions of the four reference edges.
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